Mashaba's supporters, who filled the court on Friday, burst into applause after the ruling.
BBC: SPORT | Football | African Cup of Nations | Mashaba suspension overturned
Mashaba selected a squad of local players to play Lesotho in Maseru on 8 October.
"Shaun stated that it was late for him to acquire a visa, " said Mashaba.
Mashaba was fired after criticism of his squad selection for the Cup of Nations tournament in Tunisia.
But Mashaba challenged the suspension in court, arguing that he was not given an opportunity to defend himself.
BBC: SPORT | Football | African Cup of Nations | Mashaba suspension overturned
Mashaba has signed a two-year contract with Leopards, who are based at Thohoyandou in the extreme north of the country.
Mashaba said the training camp in Murcia last month was to determine the players' commitment and their availability for call-ups.
The South African Football Association (Safa) dismissed Mashaba on Thursday, saying the outspoken coach had failed to remedy the alleged breaches.
BBC: SPORT | Football | African Cup of Nations | Mashaba suspension overturned
Mashaba has named four uncapped players and brought back Quinton Fortune of Manchester United for the match in Cape Town on 30 April.
They have been sidelined by coach Ephraim Mashaba after missing a get-together of South Africa's foreign-based professionals which was held in Spain in February.
South African coach Ephraim Mashaba said he might use the second leg to experiment with a few new caps, after using five uncapped players in Saturday's match.
"I'm happy that at the end justice prevailed, " said Mashaba.
BBC: SPORT | Football | African Cup of Nations | Mashaba suspension overturned
It will be Mashaba's first job with a club since the relegation from the top flight of South African football of his last side Vaal Reef Stars in 1992.
Some players in the provisional Nations Cup squad have been excluded from both friendlies but Mashaba said he is only using their absence to give other players a chance.
Judge Sunita Snyders agreed, saying Mashaba's contract stipulated he should have been notified in writing of any alleged breaches and given a chance to rectify them before he was suspended.
BBC: SPORT | Football | African Cup of Nations | Mashaba suspension overturned
Just a month after being ousted at the helm of South Africa's national team, Ephraim 'Shakes' Mashaba is back in the football business - taking over at club side Black Leopards.
The date is allocated to international friendlies on the co-ordinated calendar by Fifa, and coach Ephraim Shakes Mashaba wants to use it for an outing of a full strength squad - including players from clubs in Europe.
The job became vacant when Safa fired Ephraim 'Shakes' Mashaba on the eve of the squad's departure to the African Cup of Nations finals in Tunisia, with his assistant April 'Styles' Phumo taking temporary charge of the team in Tunisia.
BBC: SPORT | Football | African | Applications flood in for SA job
Absent from the Cup of Nations in Tunisia due to a conflict with former manager Shakes Mashaba over his release from English club duties with Charlton Athletic, Bartlett said he is looking forward to a new chapter with the South African team.
BBC: SPORT | Football | African | Bartlett calls for SA stability
Mashaba was fired one day before the start of the African Cup of Nations finals last month, precipitating a massive collapse in the fortunes of the country's team at an embarrassing time in their bid to win the right to host the 2010 World Cup.
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